In recent years, the use and importance of *UAV in different markets, such as aerial video and photography, precision farming, security monitoring and disaster relief, as well as 3D reconstruction and mapping has greatly increased [1]}, [2]}, [3]}. And with the ongoing technological advancements, in terms of size, power and durability, the number of areas in which *UAV are used become more and more. Prototypes for delivering goods or even transporting people are already available. With the increasing use of *UAV, it is becoming evermore important that their usability and safety is ensured [4]}, [5]}. In doing so, modern *UAV are equipped with a range of sensors, including stereo vision sensors, typically used for perceiving the surrounding of the *UAV in order to perform the tasks of obstacle detection and avoidance or 3D mapping. Compared to active sensors like *LIDAR scanners, camera systems in combination with state-of-the-art algorithms are typically more practical in performing these tasks, especially in terms of costs, weight and power-consumption. Moreover, such stereo vision sensors are often already integrated in *COTS *UAV.
